I feel like I can't do the most basic of dance steps how can I improve the way my body moves?

Stop worrying about it so much. Errors will be made, but it's how you deal with them that matter the most. If you screw up a step as soon as you can, just get back into the next step and forget it happened until you are done. The more you dance the better you will get and it's not something that happens overnight for anyone. Practice slowly in front of a mirror, it might help.